Monitoring, Managing and/or Protecting System and Method for Non-Targeted Tissue

ABSTRACT

A monitoring, managing and protecting system is provided that includes a monitoring probe working in conjunction with an ablating device. The probe is configured to be positioned in close proximity to a region of non-targeted tissue proximate an ablation site of targeted tissue and to be operatively connected to an electrical response assessment system or component. The probe includes an elongate shaft having proximal and distal ends, with a handle disposed at the proximal end thereof and a tissue monitoring and protecting apparatus disposed at the distal end thereof. The ablating device includes an elongate shaft having proximal and distal ends, with a handle mounted at the proximal end thereof and an ablation element mounted at the distal end thereof. The monitoring probe measures electrical characteristics of the non-targeted tissue and/or of the tissue between the monitoring electrode and the ablation electrode. The electrical response assessment system determines whether the tissue is being damaged based on the electrical measurements. The monitoring, managing and protecting system can notify a practitioner based on the determination, or modify or stop the ablation procedure.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of U.S. provisional application No.61/331,700, filed May 5, 2010, which is incorporated herein by referenceas though fully set forth herein.

BACKGROUND OF THE INVENTION

a. Field of the Invention

The present disclosure relates generally to medical systems formonitoring and protecting non-targeted tissue during the performance ofmedical procedures or therapeutic functions, such as, for example,ablation procedures. More particularly, the present disclosure relatesto an esophageal monitoring, managing and protecting system forprotecting non-targeted esophageal tissue during proximate ablationprocedures, such as ablation procedures in the atrium.

b. Background Art

It is known to use minimally invasive surgical devices or ablating toolsto perform ablation procedures in, for example, the heart. For instance,in treating a condition known as atrial fibrillation, it is known toadvance an ablating tool through the vasculature of a patient to adesired location, and to then thermally ablate tissue within, forexample, an ostium connecting a pulmonary vein to the heart, or toablate the tissue within the heart surrounding the ostium.

Examples of the types of tools known in the art to perform suchprocedures are catheter-based ablating devices such as those describedin U.S. Pat. No. 6,635,054 entitled “Thermal Treatment Methods andApparatus with Focused Energy Application,” U.S. Patent Publication No.2004/0176757 entitled “Cardiac Ablation Devices,” and InternationalPublication No. WO 2005/102199 entitled “Ablation Devices with SensorStructures.” These devices generally include, among other components, anelongate shaft having a proximal end, a distal end, and a longitudinalaxis extending therebetween. The devices further include an ablationelement mounted at or near the distal end of the elongate shaft. In atleast one such device, the ablation device is configured to emitultrasonic waves with the strength and intensity to burn or ablatetargeted tissue. Other ablation devices perform similar functionsthrough the emission of RF energy.

In operation, once an ablating device is positioned in a desiredlocation within the patient's anatomy (e.g., in the atrium), theablation device is selectively activated to emit ablating energy (e.g.,intense ultrasonic or RF energy). The energy is then directed forwardand focused to define, for example, a region in the circumferentialinterior OS annular wall. Such a circumferential ablating deviceprovides an efficient and effective means by which to simultaneouslycircumferentially ablate myocardial tissue around the OS of thepulmonary vein. Typically, multiple pulmonary ostia are ablatedseparately and sequentially with the same device as it is moved andplaced in each OS needing ablation.

However, these known devices are not without their drawbacks. Forinstance, a drawback in known endocardial catheter pulmonary vein ostiaablation systems relates to the monitoring, maintenance, and/or controlof the temperature in non-targeted tissue proximate the targetedablation site during the ablation procedure. Such non-targeted tissuemust not be damaged during the ablation procedure. More particularly,when certain heart tissue is being ablated, the energy emitted from theablating device may be strong enough or generate a high enoughtemperature to cause tissue necrosis in non-targeted tissue.

As an example, since the esophagus which is generally located posteriorto the atrium, RF ablation on the posterior atrial wall has been knownto cause serious complications such as esophageal fistula. Suchcomplications have even led to death of patients following RF ablationfor treatment of Atrial Fibrillation (AF). Such complications arecreated by thermally-mediated damage to the esophagus due to overheatingof the esophagus from uncontrollable application of RF energy duringablation on the posterior atrial wall.

Thermal monitoring of the esophagus to monitor and prevent suchoverheating has been proposed and tried, for example, the ProRhythmEsophageal Balloon. Such thermal monitoring techniques provide means ofmonitoring the temperature of the esophageal luminal wall. However,thermal monitoring of the luminal wall of the esophagus is generallyinadequate in preventing such esophageal complications caused byablation of the atrial wall.

At the outset, the temperature measurement of the esophageal wall isgenerally unreliable due the difficulty in accurately positioning thethermal probe in the esophagus relative to the ablation site on theatrial wall.

Even if the thermal probes are properly positioned in the esophagus, thethreshold cut-off temperature to prevent esophageal complications cannotbe set a priori. This is due to several factors, including that thethickness of the different tissue layers, such as for example, thepericardium, the fat layer, and the connective tissue, between theablation electrode on the endocardial surface and the thermal sensors onthe luminal wall of the esophagus, is not readily known. Further, theelectric field and thermal properties of these tissue layers are notreadily known. Based on these unknown variables, the thermal gradientfrom the endocardial site to the esophageal wall often cannot be readilydetermined. Consequently, the maximum temperature that can be allowed onthe endocardial wall without creating dangerously high temperatures onthe esophagus cannot be readily determined. The difficulty of reliablydetermining such temperatures on the endocardial side is furthercompounded by the unreliability of determining the endocardial tissuetemperature during ablation.

If the thermal probes could reliably measure temperature of theesophageal luminal wall, that thermal information arrives after the factthat the esophageal wall has already attained potentially harmfultemperature. This is due to the diffusive nature of the thermal fieldwhich has a long time constant. Thus, by the time the thermal probesenses a temperature rise in the luminal wall of the esophagus, it isusually too late for any preventative or corrective action.

Because of the aforementioned limitations, thermal monitoring of theesophageal luminal wall fails to provide a priori information that canbe reliably used to adequately protect and prevent thermally-mediatedesophageal injury during endocardial RF ablation of the posterior atrialwall during atrial fibrillation treatment. Accordingly, there is a needfor an ablation tool, component and/or a system that will monitor,manage and/or protect non-targeted tissue during a medical procedurethat functions to minimize or eliminate one or more of theabove-identified deficiencies.

The present disclosure overcomes the above-described and otherlimitations of current monitoring and protecting of non-targeted tissue,such as the esophageal luminal wall, by electrically monitoring thetargeted and/or non-targeted tissue conditions between the ablationelectrode and the monitoring electrode, such as the tissue of andbetween the endocardial wall and the luminal wall of the esophagus,before and during ablation, and taking protective measures whennecessary.

BRIEF SUMMARY OF THE INVENTION

The present disclosure is directed to a monitoring, managing and/orprotecting system or component for use with various medical procedures,such as ablation procedures, to monitor and protect non-targeted tissueproximate to the location of the ablation procedure. An exemplaryembodiment includes a system comprising a monitoring probe fordetermining electrical characteristics of the tissue in the esophagusproximate an ablation procedure in the atrium. The system and itsconstituent components monitor, manage and protect the non-targetedtissue including notifying the practitioner performing the ablationprocedure when the non-targeted tissue may be damaged and/or controllingor stopping the ablation procedure when necessary to protect thenon-targeted tissue.

In accordance with the present disclosure, an ablating device isconfigured to be inserted into the anatomy of a patient, such as in theatrium or heart chamber. This ablation device is capable of deliveringablating energy to a targeted tissue ablation site. The monitoring,managing and protective system of the present disclosure includes amonitoring and/or protective probe. The protective probe is alsoconfigured for insertion into the anatomy of a patient to be positionedin close proximity to a region of non-targeted tissue, which isproximate the ablation site. An example of such a non-targeted site maybe the opposite side of the region of the targeted tissue from theablating device or collateral to the targeted ablation site, such as theesophageal region opposite the atrium.

In one exemplary embodiment, the ablating device comprises an elongateshaft having a proximal end and a distal end. The ablating devicefurther includes an ablation element mounted to the elongate shaft atthe distal end. The ablation element may include an RF electrode forproviding the energy necessary for the ablation procedure. In use, theelongate shaft and ablation device may be connected to a handle formanual control purposes. Alternatively, and as described in detailherein, the elongate shaft and electrode may be connected or coupled toa system for automatic assistance in medical procedures, such as aRobotic Catheter Guidance System (RCGS) for assisting and/or controllingan ablation catheter during an ablation procedure. The presentdisclosure, including the monitoring, managing and/or protecting systemand catheter can be utilized with both automated and manual medicalprocedures.

In one exemplary embodiment, the monitoring and protecting probeincludes a tubular body having a catheter shaft. The catheter shaft hasa proximal portion, a distal portion, an anterior surface and posteriorsurface. The probe also has an anchoring device located at the distalportion of the catheter shaft. The anchoring device has an anteriorsurface and a posterior surface. The probe also contains a monitoringelectrode, such as an esophageal electrode, which is operativelyconnected to an electrical response assessment system for measuring theelectrical characteristics of tissue at the anterior luminal wall of theesophagus and/or between the anterior luminal wall of the esophagus andthe posterior endocardial wall of the atrium. The esophageal monitoring,managing and protecting apparatus and system is configured to protectnon-targeted tissue in the region of non-targeted tissue from receivingunintended ablation energy intentionally targeted at proximate opposed,collateral, or upbeam targeted tissue, such as, for example, ablationenergy delivered to tissue opposite the region of non-targeted tissuefrom the tissue protecting apparatus.

In accordance with another aspect of the present disclosure, anapparatus for use in monitoring the electrical field, or tissuetemperature or the position of an ablation electrode in a region ofnon-targeted tissue during an ablation procedure performed on targetedtissue proximate the region of non-targeted tissue is provided. Theapparatus includes a probe configured to be inserted into the anatomy ofa patient, such as the esophagus, and includes a proximal end and distalend. The apparatus further comprises an electrical field monitoring,temperature monitoring and/or position monitoring apparatus associatedwith the probe.

In accordance with another aspect of the present disclosure, a method ofmonitoring, managing and protecting a region of non-targeted tissueduring an ablation procedure performed on targeted tissue proximate theregion of non-targeted tissue is provided. The method comprises a firststep of inserting an esophageal catheter in the esophagus such that anelectrode on the esophageal catheter is aligned with and facing theposterior wall of the atrium. Next, an anchoring means is deployed suchthat the anterior surface of the anchoring means is facing the posteriorwall of the atrium. After inserting an ablation electrode into theendocardial chamber, an electrical response assessment system orcomponent is operatively connecting to the electrode on the esophagealcatheter and may be operatively connected to the electrode in theendocardial chamber. The electrical response assessment system may beseparate from, replace, or be incorporated into an electronic controlsystem (ECS), which may include an electronic control unit (ECU) forassistance in controlling an RCGS and the ablation catheter. Onceconnected, the electrical characteristics of the tissue of the esophagusor the tissue between the esophageal and ablation electrodes can bemeasured and managed, including, during ablation of the posterior atrialwall, the electrical characteristics measured by the electrical responseassessment system or component may be used to control or preventablation energy being delivered to the endocardial electrode. Themonitoring, managing and/or protecting system or component can be usedin conjunction with the RCGS, or separate from the RCGS and independentof the ablation catheter.

The foregoing and other aspects, features, details, utilities, andadvantages of the present teachings will be apparent from reading thefollowing description and claims, and from reviewing the accompanyingdrawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric diagrammatic view of a Robotic Catheter GuidanceSystem and a non-targeted tissue monitoring and protecting system,illustrating an exemplary layout of various system components.

FIG. 2 is a side view of a manipulator assembly shown in FIG. 1, coupledto a robotic support structure, showing side views of ablation catheterand sheath manipulation mechanisms.

FIGS. 3 a-3 b are isometric views of a manipulator assembly shown inFIG. 2, showing the ablation catheter and sheath manipulation mechanismin greater detail.

FIGS. 4 a-4 c are isometric views showing a sheath manipulation base ofFIGS. 3 a-3 b in greater detail.

FIGS. 5 a-5 b are isometric views showing a sheath cartridge of FIGS. 3a-3 b in greater detail.

FIG. 6 is a diagrammatic view of the sheath manipulation mechanism ofFIG. 2.

FIG. 7 is a functional block diagram of an exemplary embodiment of asystem for performing a medical procedure, such as an ablation, and formonitoring, managing and/or protecting proximate non-targeted tissueduring the procedure, in accordance with the present disclosure.

FIG. 8 is a diagrammatic and block diagram view of an exemplaryembodiment of a system for performing a medical procedure, such as anablation, and for monitoring, managing and/or protecting proximatenon-targeted tissue during the procedure, in accordance with the presentdisclosure.

FIG. 9 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 9A is transverse plane view 9AA of FIG. 9.

FIG. 10 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 10A is transverse plane view 10AA of FIG. 10.

FIG. 11 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 11A is transverse plane view 11AA of FIG. 11.

FIG. 12 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 12A is transverse plane view 12AA of FIG. 12.

FIG. 13 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 13A is transverse plane view 13AA of FIG. 13.

FIG. 14 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 14A is transverse plane view 14AA of FIG. 14.

FIG. 15 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 15A is transverse plane view 15AA of FIG. 15.

FIG. 16 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 16A is transverse plane view 16AA of FIG. 16

FIG. 17 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 17A is transverse plane view 17AA of FIG. 17.

FIG. 18 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 18A is transverse plane view 18AA of FIG. 18.

FIG. 19 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 19A is transverse plane view 19AA of FIG. 19.

FIG. 20 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 20A is transverse plane view 20AA of FIG. 20.

FIG. 21 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 21A is transverse plane view 21AA of FIG. 21.

FIG. 22 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 22A is transverse plane view 22AA of FIG. 22.

FIG. 23 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 23A is transverse plane view 23AA of FIG. 23.

FIG. 24 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 24A is transverse plane view 24AA of FIG. 24.

FIG. 25 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 25A is transverse plane view 25AA of FIG. 25.

FIG. 26 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 26A is transverse plane view 26AA of FIG. 26.

FIG. 27 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 27A is transverse plane view 27AA of FIG. 27.

FIG. 28 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 28A is transverse plane view 28AA of FIG. 28.

FIG. 29 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 29A is transverse plane view 29AA of FIG. 29.

FIG. 30 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 30A is transverse plane view 30AA of FIG. 30.

FIG. 31 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 31A is transverse plane view 3 IAA of FIG. 31.

FIG. 32 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 32A is transverse plane view 32AA of FIG. 32.

FIG. 33 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 33A is transverse plane view 33AA of FIG. 33.

FIG. 34 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 34A is transverse plane view 34AA of FIG. 34.

FIG. 35 is a partial cross-section diagrammatic view of an exemplaryembodiment of a monitoring and protecting probe of a non-targeted tissuemonitoring, managing and/or protecting system illustrated in FIGS. 7 and8, wherein the probe is disposed within the esophagus of a patientduring a medical procedure such as an ablation, in accordance with thepresent disclosure.

FIG. 35A is transverse plane view 35AA of FIG. 35.

FIG. 36 is a flowchart showing an exemplary method of monitoring,managing and protecting non-targeted tissue during a medical procedure,such as an ablation, in accordance with the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

The present disclosure is directed to a monitoring, managing and/orprotecting system or component for use with various medical procedures,such as ablation procedures, to monitor and protect non-targeted tissueproximate to the location of the ablation procedure. The presentinvention is of aid in a number of procedure types, whether doctorcontrolled or automatically controlled, e.g., by a robotic system ormagnetic system. The inventions monitor, manage and protect thenon-targeted tissue including notifying the practitioner or the systemperforming the ablation procedure when the non-targeted tissue may bedamaged and/or controlling or stopping the ablation procedure whennecessary to protect the non-targeted tissue.

Before proceeding to a detailed description of the non-targeted tissuemonitoring, managing and protecting system, a brief overview (forcontext) of one possible robotic control and guidance system (RCGS) formanipulating a medical device, such an ablation catheter, will first bedescribed. The description of the RCGS will detail how several electricmotors can be used to control the translation, distal bending andvirtual rotation of a catheter and surrounding sheath. After thedescription of the RCGS, the present specification will then provide adescription of the non-targeted tissue monitoring, managing andprotecting system, and how the system can be used in conjunction withthe RCGS in certain embodiments to control or assist in the control ofthe ablation catheter to monitor and protect a non-targeted tissue, suchas the esophagus, during a medical procedure. Likewise, one of ordinaryskill in the art will recognize that these inventions may also providenon-targeted tissue monitoring and procedure control in conjunction withany other automatic system and may also provide monitoring and controlfor a doctor manipulated catheter or procedure.

Now referring to the drawings wherein like reference numerals are usedto identify identical components in the various views, FIG. 1 is adiagrammatic view of an exemplary RCGS 10, in which several aspects of asystem and method for automatic detection and prevention of motorrunaway can be used. In addition to the description set forth herein,further details of an RCGS system can be found in commonly owned U.S.patent application Ser. No. 12/970,500 entitled “PROXIMITY SENSORINTERFACE IN A ROBOTIC CATHETER SYSTEM”, the entire disclosure of theapplication being hereby incorporated by reference.

Exemplary RCGS System Description. RCGS 10 can be likened to powersteering for a catheter system, The RCGS 10 can be used, for example, tomanipulate the location and orientation of catheters and sheaths in aheart chamber or in another body cavity or lumen. The RCGS 10 thusprovides the user with a similar type of control provided by aconventional manually-operated system, but allows for repeatable,precise, and dynamic movements. For example, a user such as anelectrophysiologist can identify locations (potentially forming a path)on a rendered computer model of the cardiac anatomy. The system can beconfigured to relate those digitally selected points to positions withina patient's actual/physical anatomy, and can thereafter command andcontrol the movement of the catheter to the defined positions. Once atthe specified target position, either the user or the system can performthe desired diagnostic or therapeutic function. The RCGS 10 enables fullrobotic navigation/guidance and control.

As shown in FIG. 1, the RCGS 10 can generally include one or moremonitors or displays 12, a visualization, mapping and navigation(including localization) system 14, a human input device and controlsystem (referred to as “input control system”) 100, an electroniccontrol system 200, a manipulator assembly 300 for operating a devicecartridge 400, an actuation unit 600 (shown in FIG. 6), a manipulatorsupport structure 500 for positioning the manipulator assembly 300 inproximity to a patient or a patient's bed, and a monitoring, managingand protecting system 700, for monitoring and protecting non-targetedtissue during a medical procedure.

Displays 12 are configured to visually present to a user informationregarding patient anatomy, medical device location or the like,originating from a variety of different sources. Displays 12 can include(1) an ENSITE VELOCITY™ monitor 16 (coupled to system 14—described morefully below) for displaying cardiac chamber geometries or models,displaying activation timing and voltage data to identify arrhythmias,and for facilitating guidance of catheter movement; (2) a fluoroscopymonitor 18 for displaying a real-time x-ray image or for assisting aphysician with catheter movement; (3) an intra-cardiac echo (ICE)display 20 to provide further imaging; and (4) an EP recording systemdisplay 22.

The system 14 is configured to provide many advanced features, such asvisualization, mapping, navigation support and positioning (i.e.,determine a position and orientation (P&O) of a sensor-equipped medicaldevice, for example, a P&O of a distal tip portion of a catheter). Suchfunctionality can be provided as part of a larger visualization, mappingand navigation system, for example, an ENSITE VELOCITY™ system running aversion of NAVX™ software commercially available from St. Jude Medical,Inc., of St. Paul, Minn. and as also seen generally by reference to U.S.Pat. No. 7,263,397 entitled “METHOD AND APPARATUS FOR CATHETERNAVIGATION AND LOCATION AND MAPPING IN THE HEART” to Hauck et al., ownedby the common assignee of the present disclosure, and herebyincorporated by reference in its entirety. System 14 can compriseconventional apparatus known generally in the art, for example, theENSITE VELOCITY™ system described above or other known technologies forlocating/navigating a catheter in space (and for visualization),including for example, the CARTO visualization and location system ofBiosense Webster, Inc., (e.g., as exemplified by U.S. Pat. No. 6,690,963entitled “System for Determining the Location and Orientation of anInvasive Medical Instrument” hereby incorporated by reference in itsentirety), the AURORA® system of Northern Digital Inc., a magnetic fieldbased localization system such as the GMPS® system based on technologyfrom MediGuide Ltd. of Haifa, Israel and now owned by St. Jude Medical,Inc. (e.g., as exemplified by U.S. Pat. Nos. 7,386,339, 7,197,354 and6,233,476, all of which are hereby incorporated by reference in theirentireties) or a hybrid magnetic field-impedance based system, such asthe CARTO 3 visualization and location system of Biosense Webster, Inc.(e.g., as exemplified by U.S. Pat. Nos. 7,536,218, and 7,848,789 both ofwhich are hereby incorporated by reference in its entirety). Some of thelocalization, navigation and/or visualization systems can involveproviding a sensor for producing signals indicative of catheter locationand/or orientation information, and can include, for example one or moreelectrodes in the case of an impedance-based localization system such asthe ENSITE VELOCITY™ system running NAVX™ software, which electrodes canalready exist in some instances, or alternatively, one or more coils(i.e., wire windings) configured to detect one or more characteristicsof a low-strength magnetic field, for example, in the case of amagnetic-field based localization system such as the GMPS® system usingtechnology from MediGuide Ltd. described above.

The input control system 100 is configured to allow a User, such as anelectrophysiologist, to interact with the RCGS 10, in order to controlthe movement and advancement/withdrawal of both a catheter and sheath(see, e.g., commonly assigned U.S. patent application Ser. No.12/751,843 filed Mar. 31, 2010 entitled “ROBOTIC CATHETER SYSTEM”(docket no. 0G-043516US) and PCT/US2009/038597 entitled “ROBOTICCATHETER SYSTEM WITH DYNAMIC RESPONSE” (docket no. 0G-043513WO),published as WO 2009/120982; the entire disclosure of both applicationsbeing hereby incorporated by reference). Generally, several types ofinput devices and related controls can, be employed, including, withoutlimitation, instrumented traditional catheter handle controls, oversizedcatheter models, instrumented user-wearable gloves, touch screen displaymonitors, 2-D input devices, 3-D input devices, spatially detectedstyluses, and traditional joysticks. For a further description ofexemplary input apparatus and related controls, see, for example,commonly assigned U.S. patent application Ser. No. 12/933,063 entitled“ROBOTIC CATHETER SYSTEM INPUT DEVICE” (docket no. 0G-043527US) and U.S.patent application Ser. No. 12/347,442 entitled “MODEL CATHETER INPUTDEVICE” (docket no. 0G-043508US), the entire disclosure of bothapplications being hereby incorporated by reference. The input devicescan be configured to directly control the movement of the catheter andsheath, or can be configured, for example, to manipulate a target orcursor on an associated display.

The electronic control system 200 is configured to translate (i.e.,interpret) inputs (e.g., motions) of the user at an input device or fromanother source into a resulting movement of the catheter and/orsurrounding sheath. In this regard, the system 200 includes a programmedelectronic control unit (ECU) in communication with a memory or othercomputer readable media (memory) suitable for information storage.Relevant to the present disclosure, the electronic control system 200 isconfigured, among other things, to issue commands (i.e., actuationcontrol signals) to the manipulator assembly 300 (i.e., to the actuationunits—electric motors) to move or bend the catheter and/or sheath toprescribed positions and/or in prescribed ways, all in accordance withthe received user input and a predetermined operating strategyprogrammed into the system 200. In addition to the instant description,further details of a programmed electronic control system can be foundin commonly assigned U.S. patent application Ser. No. 12/751,843 filedMar. 31, 2010 entitled “ROBOTIC CATHETER SYSTEM” (docket no.0G-043516US), described above. It should be understood that although theexemplary ENSITE VELOCITY™ System 14 and the electronic control system200 are shown separately, integration of one or more computing functionscan result in a system including an ECU on which can be run both (i)various control and diagnostic logic pertaining to the RCGS 10 and (ii)the visualization, mapping and navigation functionality of system 14.

The manipulator assembly 300, in response to such commands, isconfigured to maneuver the medical device (e.g., translation movement,such as advancement and withdrawal of the catheter and/or sheath), aswell as to effectuate distal end (tip) deflection and/or rotation orvirtual rotation. In an embodiment, the manipulator assembly 300 caninclude actuation mechanisms/units (e.g., a plurality of electric motorand lead screw combinations, or other electric motor configurations, asdetailed below) for linearly actuating one or more control members(e.g., steering wires) associated with the medical device for achievingthe above-described translation, deflection and/or rotation (or virtualrotation). In addition to the description set forth herein, furtherdetails of a manipulator assembly can be found in commonly assigned U.S.patent application Ser. No. 12/347,826 titled “ROBOTIC CATHETERMANIPULATOR ASSEMBLY” (docket no. 0G-043503US), the entire disclosure ofwhich is hereby incorporated by reference.

A device cartridge 400 is provided for each medical device controlled bythe RCGS 10. For this exemplary description of an RCGS, one cartridge isassociated with a catheter and a second cartridge is associated with anouter sheath. The cartridge is then coupled, generally speaking, to theRCGS 10 for subsequent robotically-controlled movement. In addition tothe description set forth herein, further details of a device cartridgecan be found in commonly owned U.S. patent application Ser. No.12/347,835 entitled “ROBOTIC CATHETER DEVICE CARTRIDGE” (docket no.0G-043504US) and U.S. patent application Ser. No. 12/347,842 “ROBOTICCATHETER ROTATABLE DEVICE CARTRIDGE” (docket no. 0G-043507US), theentire disclosure of both applications being hereby incorporated byreference.

The monitoring, managing and protecting system 700 allows for themonitoring, managing and protecting of non-targeted tissue, such as theesophagus, during a medical procedure, such as an ablation. Themonitoring, managing and protecting system 700 can communicate with theelectronic control system 200 to transmit commands to the actuation unit600 to modify or stop the medical procedure from continuing, therebyprotecting the non-targeted tissue from damage or additional damage.Further, the monitoring, managing and protecting system 700 can also beconfigured to work independently from the electronic control system 200and/or the RCGS 10, as described in detail below.

FIG. 2 is a side view of an exemplary robotic catheter manipulatorsupport structure, designated structure 510 (see commonly owned U.S.patent application Ser. No. 12/347,811 entitled “ROBOTIC CATHETERSYSTEM” (docket no. 0G-043502US) described above). The structure 510 cangenerally include a support frame 512 including retractable wheels 514and attachment assembly 516 for attachment to an operating bed (notshown). A plurality of support linkages 520 can be provided foraccurately positioning one or more manipulator assemblies, such asmanipulator assembly 302. The assembly 302 is configured to serve as theinterface for the mechanical control of the movements or actions of oneor more device cartridges, such as catheter and sheath cartridges 402,404 described below. Each device cartridge is configured to receive andretain a respective proximal end of an associated medical device (e.g.,catheter or sheath). The assembly 302 also includes a plurality ofmanipulation bases onto which the device cartridges are mounted. Aftermounting, the manipulator assembly 302, through the manipulation bases,is capable of manipulating the attached catheter and sheath.

In the Figures to follow, FIGS. 3 a-3 b will show a manipulatorassembly, FIGS. 4 a-4 c will show a manipulation base, and FIGS. 5 a-5 bwill show a device cartridge.

FIG. 3 a is an isometric view, with portions omitted for clarity, ofmanipulator assembly 302. Assembly 302 includes a catheter manipulatormechanism 304, a sheath manipulator mechanism 306, a cathetermanipulation base 308, a sheath manipulation base 310, a first(catheter) drive mechanism 312, a second (sheath) drive mechanism 314,and a track 356. As further shown, assembly 302 further includes acatheter cartridge 402 and a sheath cartridge 404, with a catheter 406having a proximal end opening 408 coupled to the catheter cartridge 402and a sheath 410 coupled to the sheath cartridge 404.

Catheter and sheath manipulator mechanisms 304, 306 are configured tomanipulate the several different movements of the catheter 406 and thesheath 410. First, each mechanism 304, 306 is configured to imparttranslation movement to the catheter 406 and the sheath 410. Translationmovement here refers to the independent advancement and retraction(withdrawal) as shown generally in the directions designated D1 and D2in FIG. 3 a. Second, each mechanism 304, 306 is also configured toeffect deflection of the distal end of either or both of the catheterand sheath 406, 410. Third, each mechanism 304, 306 can be operative toeffect a so-called virtual (omni-directional) rotation of the distal endportion of the catheter 406 and the sheath 410. Virtual rotation, forexample, can be made through the use of independent four-wire steeringcontrol for each device (e.g., eight total steering wires, comprisingfour sheath control wires and four catheter control wires). The distalend movement is referred to as “virtual” rotation because the outersurface of the sheath (or catheter) does not in fact rotate in theconventional sense (i.e., about a longitudinal axis) but rather achievesthe same movements as conventional uni-planar deflection coupled withaxial rotation. In addition to the present description of virtualrotation, further details can be found in PCT/US2009/038597 entitled“ROBOTIC CATHETER SYSTEM WITH DYNAMIC RESPONSE”, published as WO2009/120982.

Each manipulator mechanism 304, 306 further includes a respectivemanipulation base 308, 310 onto which are received catheter and sheathcartridges 402, 404. Each interlocking base 308, 310 can be capable oftravel in the longitudinal direction of the catheter/sheath (i.e., D1,D2 respectively) along a track 356. In an embodiment, D1 and D2 can eachrepresent a translation of approximately 8 linear inches. Eachinterlocking base 308, 310 can be translated by a respective highprecision drive mechanism 312, 314. Such drive mechanisms can include,for example and without limitation, an electric motor driven lead screwor ball screw.

The manipulator mechanisms 304, 306 are aligned with each other suchthat catheter 406 can pass through sheath 410 in a coaxial arrangement.Thus, sheath 410 can include a water-tight proximal sheath opening 408.Overall, the manipulator mechanisms 304, 306 are configured to allow notonly coordinated movement but also relative movement between catheterand sheath cartridges 402, 404 (and thus relative movement betweencatheter and sheath).

FIG. 3 b is an isometric view of manipulator assembly 302, substantiallythe same as FIG. 3 a except that catheter and sheath cartridges 402, 404are omitted (as well as catheter and sheath 406, 410) so as to reveal anexposed face of the manipulation bases 308, 310.

FIG. 4 a is an isometric, enlarged view showing manipulation base 308(and base 310) in greater detail. Each cartridge 402, 404 has anassociated manipulation base 308, 310. Each base 308, 310 can include aplurality of fingers 316, 318, 320 and 322 (e.g., one per steering wire)that extend or protrude upwardly to contact and interact with steeringwire slider blocks (i.e., such as slider blocks 412, 414, 416, 418 arebest shown in FIG. 5 b) to independently tension select steering wires420, 422, 424, 426 (also best shown in FIG. 5 b). Each finger can beconfigured to be independently actuated (i.e., moved back and forthwithin the oval slots depicted in FIG. 4 a) by a respective precisiondrive mechanism, such as a motor driven ball screw 324. A plate 326provides a surface onto which one of the cartridges 402, 404 are seated.

FIG. 4 b is an isometric, enlarged view of base 308 (and base 310),substantially the same as FIG. 4 a except with plate 326 omitted. Eachmotor-driven ball screw 324 (best shown in FIG. 4 a, i.e., for bothfinger control and for cartridge translation control, can furtherinclude encoders to measure a relative and/or an absolute position ofeach element of the system. Moreover, each motor-driven ball screw 324(i.e., for both finger control and cartridge translation control) can beoutfitted with steering wire force sensors to measure a correspondingsteering wire tension. For example, a corresponding finger 316, 318, 320or 322 can be mounted adjacent to a strain gauge for measuring thecorresponding steering wire tension. Each motor-driven ball screw 324can include a number of components, for example only, a rotary electricmotor (e.g., motors 342, 344, 346 and 348), a lead screw 328, a bearing330 and a coupler 332 mounted relative to and engaging a frame 340. Inthe depicted embodiments linear actuation is primarily, if notexclusively, employed. However, some known examples of systems withrotary-based device drivers include U.S. application Ser. No.12/150,110, filed 23 Apr. 2008 (the '110 application); and U.S.application Ser. No. 12/032,639, filed 15 Feb. 2008 (the '639application). The '110 application and the '639 application are herebyincorporated by reference in their entirety as though fully set forthherein. These and other types of remote actuation can directly benefitfrom the teaching of the instant disclosure.

FIG. 4 c is an isometric, enlarged view of base 308 (and base 310) thatis taken from an opposite side as compared to FIGS. 4 a-4 b. Bases 308,310 can include components such as a plurality of electrically-operatedmotors 342, 344, 346 and 348, respectively coupled to fingers 316, 318,320 and 322. A bearing 354 can be provided to facilitate the sliding ofbases 308, 310 on and along track 356. A plurality of inductive sensors(e.g. home sensors) 358 can also be provided for guiding eachmanipulation base to a home position.

FIG. 5 a is an isometric, enlarged view showing, in greater detail,sheath cartridge 404. It should be understood that the description ofsheath cartridge 404, except as otherwise stated, applies equally tocatheter cartridge 402. Catheter 406 and sheath 410 can be substantiallyconnected or affixed to respective cartridges 402, 404 (e.g., in theneck portion). Thus, advancement of cartridge 404 correspondinglyadvances the sheath 410 and retraction of cartridge 404 retracts thesheath 410. Likewise, although not shown, advancement of cartridge 402correspondingly advances catheter 406 while a retraction of cartridge402 retracts catheter 406. As shown, sheath cartridge 404 includes upperand lower cartridge sections 428, 430.

FIG. 5 b is an isometric, enlarged view showing, in greater detail,sheath cartridge 404, with upper section 428 omitted to reveal interiorcomponents. Cartridge 404 can include slider blocks (e.g., as shown forcartridge 404, slider blocks 412, 414, 416, 418), each rigidly andindependently coupled to a respective one of a plurality of steeringwires (e.g., sheath steering wires 420, 422, 424, 426) in a manner thatpermits independent tensioning of each steering wire. Likewise,cartridge 402 for catheter 406 also includes slider blocks for couplingto a plurality (i.e., four) steering wires. Device cartridges 402, 404can be provided as a disposable item that is capable of being easilypositioned (e.g., snapped) into place (i.e., onto a respective base 408,410). Sheath cartridge 404 can be designed in a similar manner as thecatheter cartridge 402, but will typically be configured to provide forthe passage of catheter 406.

Referring to FIGS. 4 a and 5 a, catheter and sheath cartridges 402, 404are configured to be secured or locked down onto respective manipulationbases 308, 310. To couple cartridge 402 (and 404) with base 308 (and310), one or more locking pins (e.g., 432 in FIG. 5 a) on the cartridgecan engage one or more mating recesses 360 in the base (see FIG. 4 a).In an embodiment, such recesses 360 can include an interference locksuch as a spring detent or other locking means. In an embodiment, suchother locking means can include a physical interference that can requireaffirmative/positive action by the user to release the cartridge. Suchaction can include or require actuation of a release lever 362.Additionally, the cartridge can include one or more locator pins (notshown) configured to passively fit into mating holes on the base (e.g.,364 in FIG. 4 a).

In operation, a user first manually positions catheter 406 and sheath410 (with catheter 406 inserted in sheath 410) within the vasculature ofa patient. Once the medical devices are roughly positioned in relationto the heart or other anatomical site of interest, the user can thenengage or connect (e.g., “snap-in”) the catheter and sheath cartridgesinto place on respective bases 308, 310. When a cartridge isinterconnected with a base, the fingers fit into the recesses formed inthe slider blocks. For example, with respect to the sheath cartridge 404and sheath base 310, each of the plurality of fingers 316, 318, 320 or322 fit into corresponding recesses formed between the distal edge ofslider blocks 412, 414, 416, 418 and a lower portion of the cartridgehousing (best shown in FIG. 5 b). Each finger can be designed to beactuated in a proximal direction to respectively move each slider block,thereby placing the respective steering wire in tension (i.e., a “pull”wire). Translation, distal end bending and virtual rotation can beaccomplished through the use of the RCGS 10.

FIG. 6 is a diagrammatic view of a node suitable for connection to acommunications bus (not shown) in RCGS 10. The node includes anactuation unit 600, similar to the actuation mechanisms described above(e.g., catheter actuation mechanism 304). The RCGS 10 can have at leastten such actuation units (i.e., one for each of the four cathetersteering wires, four sheath steering wires, one catheter manipulationbase and one sheath manipulation base), which as described includeelectric motors. The diagnostic logic of the present disclosure isconfigured to monitor all the electric motors to detect runaway motorfault conditions.

FIG. 6 shows in diagrammatic or block form many of the componentsdescribed above—where appropriate, references to the earlier describecomponents will be made. Actuation unit 600 includes a first, slidablecontrol member 602 (i.e., slider as described above) that is connectedto or coupled with a second, tensile control member 604 (i.e., steeringwire as described above). The slider 602 can be configured to interfacewith a third, movable control member 606 (i.e., finger as describedabove). The finger 606 can further be operatively coupled with a portionof a sensor 608 (e.g., a force sensor), which, in turn, can be coupledwith a translatable drive element 610 that can be mechanically moved.For example, without limitation, translatable drive element 610 can rideon or can otherwise be mechanically moved by a mechanical movementdevice 612 that, in turn, can be coupled with an electric motor 614. Themechanical movement device 612 can comprise a lead screw while thetranslatable drive element 610 can comprise a threaded nut, which can becontrollably translated by screw 612 in the X+ or X− directions. Inanother embodiment, mechanical movement device 612 can include a ballscrew, while translatable drive element 610 can include a ball assembly.Many variations are possible, as will be appreciated by one of ordinaryskill in the art.

The actuation unit 600 also includes a rotary motor position encoder 616that is coupled to the motor 614 and is configured to output a signalindicative of the position of the motor 614. The encoder 616 cancomprise an internal, optical encoder assembly, integral with motor 614,configured to produce a relatively high accuracy output. The motorposition sensor can operate in either absolute or relative coordinates.In an embodiment, a second motor position sensor (not shown) can also beprovided, such as a potentiometer (or impedance-based), configured toprovide a varying voltage output proportional to the motor's rotaryposition. The output of the secondary position sensor can be used as anintegrity check of the operating performance of the primary positionsensor (encoder) during start-up or initialization of the actuationunit.

Actuation unit 600 also includes one or more local controllers includinga bus interface 618 to facilitate exchange of information betweenactuation unit 600 and electronic control system 200 (via the bus). Thecontroller communicates with the main electronic control system 200 viathe bus interface and is configured, among other things, to (1) receiveand execute motor actuation commands issued by the electronic controlsystem 200 for controlling the movements of motor 614; and (2) receiveand execute a command (issued by the electronic control system 200) totake a motor position sensor reading, for example, from encoder 616 andsubsequently report the reading to system 200. As described herein,commands from the monitoring, managing and protecting system 700 basedon information obtained at non-targeted tissue and sent via (orindependent of) the electronic control system 200, can be used to stop amedical procedure or modify the procedure in such a way to protect thenon-targeted tissue from damage or from additional damage.

FIG. 7 illustrates an exemplary embodiment of a monitoring, managing andprotecting system 700 for use at non-targeted tissue proximate a medicalprocedure, such as an ablation procedure. As described herein, thesystem 700 monitors, manages, and/or protects non-targeted tissueproximate an ablation site during the ablation procedure by obtainingelectrical information pertaining to non-targeted tissue and determiningif the information indicates that the non-targeted tissue is being orwill be damaged by the ablation device or the ablation procedure.

As shown in FIG. 7, the exemplary monitoring, managing and protectingsystem 700 is configured to manage, modify and/or stop the energy beingemitted from an ablation catheter through and using an electricalresponse assessment system or system controller 716. Monitoring,managing and/or protecting non-targeted tissue during a medicalprocedure can also be accomplished using the electronic control system200 of the RCGS 10 (see FIG. 1) to control the ablation procedure whencertain electrical characteristics are detected. The monitoring,managing and protecting system 700 can also work independently from theRCGS 10 by providing visual, audible or haptic information so that thepractitioner can manually modify or stop the procedure before any damageor further damage is done to the non-targeted tissue.

FIG. 7 illustrates the monitoring, managing and protecting system 700working in conjunction with an ablation subsystem 712, a monitoring,managing and/or protecting subsystem 714, and, in an exemplaryembodiment, a system controller 716 (such as an electrical responseassessment system), including one or more processors 732, connected toeach of the ablation subsystem 712 and the monitoring, managing andprotecting subsystem 714. The ablation subsystem 712 is generally acomponent of or operatively coupled to the manipulator assembly 300and/or the device cartridge 400 of the RCGS 10 described above, as isgenerally known in the art (see, for example, U.S. Pat. No. 6,635,054entitled “Thermal Treatment Methods and Apparatus with Focused EnergyApplication,” U.S. Patent Publication No. 2004/0176757 entitled “CardiacAblation Devices,” and International Publication No. WO 2005/102199entitled “Ablation Devices with Sensor Structures”, the disclosures ofwhich are hereby incorporated by reference in their entireties).

In an exemplary embodiment, the ablation subsystem 712 includes anablating device 718, comprised, in part, of at least one ablationelement 730 coupled to an elongate and typically flexible shaft 720having a proximal end 722, a distal end 724, and a longitudinal axis 726extending from the proximal end 722 through the distal end 724. As willbe described in greater detail below, the ablating device 718 furtherincludes a handle 728 coupled to the elongate shaft 720 at the proximalend 722 thereof, and the at least one ablation element 730 is mounted tothe elongate shaft 720 at or near the distal end 724 thereof. While itshould be understood that the ablating device 718 may include one ormore ablation elements 730, and that ablating devices 718 having morethan one ablation elements 730 are within the spirit and scope of thepresent disclosure, for ease of description purposes only, thedescription below will be limited to an embodiment wherein the ablatingdevice 718 includes a single ablation element 730.

The flexible elongate shaft 720 may be formed of any number ofmaterials, such as, for example and without limitation, PEBAX®, Nylon,and polyurethane. In another exemplary embodiment, the elongate shaft720 is constructed of, or incorporates, a metal wire braid, as is knownin the art. The elongate shaft 720 further includes at least one, andtypically multiple, inner passageways or lumens (not shown) disposedtherein. The lumens extend longitudinally along an axial portion of theshaft 720 from the proximal end 722 to the distal end 724, and areconfigured to have one or more components of the ablating device 718disposed therein, such as, for example and without limitation, pullwires, planarity wires, fluid irrigation or drainage lumens, lead wiresfor the ablation element 730, a rotation wire, or, as will be describedin greater detail below, components required for inflating and deflatingballoons with, for example, fluid, gas, and/or extruding gels,associated with the ablating device 718, and the ablation element 730,in particular.

As briefly described above, the handle 728 of the ablating device 718 isdisposed at the proximal end 722 of the elongate shaft 720. The handle728 is operative to, among other things, effect movement of the shaft720 (i.e., steer the ablating device 718), and/or selectively manipulatethe distal end 724 of the elongate shaft 720 to position the distal end724, and therefore, the at least one ablation element 730, in a desiredlocation when the ablating device 718 is disposed within a patient. Moreparticularly, in one embodiment provided for exemplary purposes only,one or more pull wire(s) (not shown) are coupled to and between both thedistal end 724 of the elongate shaft 720 and an actuator(s) 734 locatedon the handle 728. As the actuator 734 is manipulated, the correspondingpull wire(s) is caused to be pushed and pulled, for example, to effectmovement, such as bending deflection, of the distal end 724 of theelongate shaft 720. It should be noted, however, that while only thisparticular method or technique of steering or effecting movement of theelongate shaft 720, and/or the distal end 724 thereof, is described indetail herein, the present invention is not meant to be so limited.Rather, those of ordinary skill in the art will appreciate that othermethodologies or techniques of steering and/or manipulating ablatingdevices exist that remain within the spirit and scope of the presentinvention.

In addition to actuator 734, other components may also be disposedwithin the handle 728. For example, electrical matching circuits toelectrically impedance-match the components of the ablation element 730to an ablation energy generator or power source, or other components ofthe ablation subsystem 712, for example, may be disposed within thehandle 728. The ablation element 730 and the energy generator can beconfigured to deliver one or more types of ablation energy (e.g., highintensity focused ultrasound, or HIFU, radiofrequency, laser, microwaveand the like). Further, as described in detail above, an exemplary RCGS10 can be used in conjunction with, or instead of a handle 728, toposition and/or control the elongate shaft 720 and the ablation element730 before and during an ablation procedure.

The ablation subsystem 712 further includes an energy or ablation powersource 736, which is electrically connected to the ablation element 730by electrical leads or wires (not shown) that are disposed within one ormore of the lumens in the elongate shaft 720, and that extend through tothe proximal end 722 thereof. When the ablation power source 736 isactivated, the ablation element 730 emits an ablation energy for useduring the ablation procedure.

The monitoring, managing and/or protecting subsystem 714 of system 700will now be described. In an exemplary embodiment, the monitoring,managing and/or protecting subsystem 714 includes a protective probe740, a fluid or gas source 742, and an actuator 744.

The protective probe 740 includes an elongate shaft 746, a handle 748,and a monitoring electrode 750. As with the shaft 720 described above,the elongate shaft 746 has a proximal end 752, a distal end 754, and alongitudinal axis 756 extending from the proximal end 752 through thedistal end 754. The handle 748 is disposed at the proximal end 752 and,as described above with respect to the handle 748, may be configured,among other things, to steer or manipulate portions of the probe 740 asit is inserted into the anatomy of a patient, such as, for example, theesophagus. In an exemplary embodiment, the probe 740 is directlyinserted into the esophagus such as through the mouth or sinus. However,in another exemplary embodiment, the probe 740 is introduced into theesophagus through an introducer-lumen already in place. The monitoringelectrode 750 of the probe 740 is disposed at or near the distal end 754of the elongate shaft 746.

In one exemplary embodiment, the monitoring, managing and/or protectingsystem is configured to obtain or measure the electrical characteristicsof the non-targeted tissue, and to communicate the same to a processor758 or other circuitry associated with subsystem 714 (or to the systemcontroller 716). The processor 758 is configured, at least in part, tocompare the measured electrical characteristics of the tissue withpredetermined threshold characteristics, and to provide the practitionerperforming the ablation procedure an audible and or visual warning ifthe measured electrical characteristics approach or reach thepredetermined threshold (e.g., where burning or damage to the esophagealtissue may begin). For example, the subsystem 714 may further include analarm system controllable by, for example, the processor 758, to providean audible and/or haptic warning that the threshold has been met or isbeing approached, and/or a display monitor 760 controllable by, forexample, the processor 758, to display the imaged tissue, as well as avisual warning that the threshold has been met or is being approached.This information may be further communicated to the system controller716, to ablation subsystem 712, for example, which may then cause theablating device 718 to be turned “off” or turned “down” in order toprevent or mitigate burning in the esophageal tissue, or to a physician.The system controller 716, the ablation system 712, the physician, orany other control system may react or utilize the information to takecorrective, modifying or mitigating actions, including moving systemcomponents, turning system components off or down, adjusting power,adjusting cooling, adjusting fluid flow, or terminating procedures. Thedetected characteristics may also be used to predict the onset of damageto the non-targeted tissue and have the system undertake preventative orwarning actions, and/or to control, modify or stop the ablative energylevel. In an exemplary embodiment, low energy may be delivered by theablating device 718 for purposes of estimating how the tissue willreact, e.g., how hot the esophageal tissue will get at higher ablationenergy. Further, the monitoring, managing and/or protecting subsystem714 may be incorporated into the RCGS 10 system described herein andincorporate the electronic control system 200 of the RCGS 10 to makesuch determinations or decisions.

FIG. 8 is a diagrammatic and block diagram of an exemplary monitoring,managing and/or protecting system 700 including the protective probe 740for measuring electrical characteristics of non-targeted tissue and/orof tissue located between a monitoring electrode 750 and an ablationelectrode 730.

FIG. 8 illustrates an ablation device 718 including an ablation catheter730 that emits energy for performing ablation procedures. In anexemplary embodiment, the ablation device is mechanically orautomatically controlled by the device cartridge module 400, which iscontrolled by the electronic control system 200 of the RCGS 10 (seeFIGS. 1-6). It should be understood that other means to control anablation device 718 are contemplated, including both automatic andmanual mechanisms. If ablation catheter 730 is or could wind up locatedin the patient near the tissue for which the ablation procedure isdirected, e.g., near the posterior atrial wall, the protective probe 740including a monitoring electrode 750 is placed into the patient suchthat the monitoring electrode 750 is proximate the non-targeted tissue,in this example, the anterior wall of the esophagus. The monitoring,managing and/or protecting system 700 includes a fluid or gas source 742and a processor 760 such that the monitoring electrode 750 can beanchored proximate the ablation procedure, as described herein. Forexample, a balloon 762 may be used in conjunction with the monitoringelectrode 750, such that once the monitoring electrode 750 is properlylocated, the balloon 762 can be filled with gas or liquid from the fluidor gas source 742 (controlled by the processor 760) to anchor theballoon 762 and thus the monitoring electrode 750 in the proper place.Further, the electronic control system 200 from the RCGS 10 can beutilized in conjunction with or instead of the processor 760 toaccomplish the same function. As such, the electrical responseassessment system 700 can stand alone or be part of the electroniccontrol system 200. In the latter event, the electrical responseassessment system 700 can receive information and/or signals from themonitoring catheter 750 and determine if the ablation catheter 730 isdamaging non-targeted tissue during the medical procedure. In anexemplary embodiment, the electrical response assessment system 700 willeither transmit the information and/or signals to the electronic controlsystem 200 for determination, or the electrical response assessmentsystem 700 can itself make a determination and indicate the dangerouscondition to the electronic control system 200 or even stop theprocedure from continuing.

As described herein, the electrical measurements made by the monitoringcatheter 750 can be useful for assessing, for example, information onthe fat layer between the endocardial wall and the esophagus and/orhighly localized and instantaneous information on the progression oflesion on the posterior wall, among other information.

Further, it has been determined that one can utilize an algorithm topredict the temperature of tissue a predetermined depth below thesurface, for example 3 mm, by determining certain electricalcharacteristics. In an exemplary embodiment, a determination of thereactance (X), the resistance (R), the impedance (Z), and the phaseangle (φ) components of the complex impedance between an electrode andthe tissue, the instantaneous power applied to the tissue (P) at thepoint in time for which the calculation is made, the duration of thelesion formation process (dt), and the temperature of the tip of thecatheter (T) were significant factors to be considered in an algorithm.More specifically, it has been determined that the reactance (X),resistance (R), power (P), catheter temperature (T), and impedance (Z)at the time of the calculation, the product of the power (P) and theduration (dt) of the lesion formation process, the pre-ablation changein the phase angle φ between when the electrode contacts the tissue andprior to the electrode contacting the tissue (dφ) (i.e., when theelectrode is in the chamber but not in contact with the tissue, forexample), the natural log of the duration (dt), and the natural log ofthe instantaneous power (P) are the most significant factors to beconsidered. In addition to the description set forth herein, furtherdetails of such algorithms can be found in commonly owned U.S. patentapplication Ser. No. 12/946,941 entitled “SYSTEM AND METHOD FORASSESSING THE FORMATION OF A LESION IN TISSUE”, the entire disclosure ofthe application being hereby incorporated by reference.

As with the depth prediction algorithm described in the reference, itwas further determined that various other factors would possibly have animpact on the accuracy of the temperature prediction algorithm. Thesefactors include, for example and without limitation, certain parametersand/or characteristics of the equipment and/or their arrangement (suchas, for example, the type of catheter and ablation generator being used,the irrigation flow rate, etc.) as well as the depth below the surface(e.g., endocardial surface) of the tissue for which the temperature isbeing predicted. Accordingly, it was determined that for the equipmentused in the testing and for a depth of three millimeters (3 mm) belowthe tissue surface (which is provided for exemplary purposes only) themost computationally efficient algorithm would be based on the factorsabove (e.g., X, R, P, T, Z, dφ, dt, etc.), as well as certainpredetermined coefficients and constants to account for designparameters or characteristics of the devices/equipment used in theablation procedure, for example. More specifically, it was determinedthat the best equation or algorithm was the following equation (1):

Predicted Temperature=a+b ₁ X+b ₂ R+b ₃ P+b ₄ T+b ₅ Z+b ₆(P*(dt))+b₇(d)φ+b₈(ln dt)+b ₉(ln P)  (1)

In this equation, the constant a and the coefficients b₁-b₉ arepredetermined values that are intended to account for the variousfactors associated with, for example, the equipment used in the ablationprocedure (i.e., type of catheter and/or ablation generator, irrigationflow rate, etc.). The constant and coefficients, which may be positiveor negative values depending on the circumstances, can be determined ina number of ways, such as, for example, controlled experimentation orusing analyses, such as, for example, a regression analysis. Once theconstant and coefficients are determined, they may be stored orprogrammed into the electronic control unit ECU of the electroniccontrol system 200, or a memory/storage device associated therewith oraccessible thereby. Alternatively, the catheter may itself include amemory such as an EEPROM that stores numerical values for thecoefficients/constant corresponding to that particular type of catheterand/or other equipment, or stores a memory address for accessing thenumerical values in another memory location. The ECU of the electroniccontrol system 200 may retrieve these values or addresses directly orindirectly and factor them into the calculation accordingly.

It should be understood that while the coefficients and constant of theparticular equation above may vary depending on, among other things, thespecific catheter used, the ablation generator employed, the irrigationflow rate, potentially the patient, other equipment in the system, thespecies being treated, the depth for which the temperature is beingpredicted, and the like, the value calculated using the particularequation above will always be responsive to components of the compleximpedance and the RF power applied to the tissue (e.g., instantaneouspower) in order to arrive at an optimal assessment of the predictedtemperature of the tissue a predetermined depth below the surfacethereof. It should be further noted that the constant and coefficientsare determined and programmed as part of the manufacturing and/or setupprocess of the system, and thus, are not determined during the use ofthe system in accordance with its intended purpose.

By way of example and illustration, employing the experimental testingand regression analysis described above, and using a RE ablationcatheter available from St. Jude Medical, Inc. under the name COOLPATH™and a 485 kHz RE ablation generator, the best prediction of thetemperature of the tissue three millimeters (3 mm) below the surface ofthe endocardial surface of the tissue for a system employing thoseparticular components was determined to be the following equation (2):

PredictedTemperature=−557−2.44X−1.37R−6.88P+3.05T+3.29Z+0.0377(P*(dt))+21.1(dφ)−14.1(lndt)+167(ln P)  (2)

As with the lesion depth prediction algorithm described above, this wasdetermined by bench and/or animal testing that included testing onbovine myocardium. Data was collected and a regression model wasperformed to come to equation (2), and the values of the constant andcoefficients thereof.

As set forth in equations (1) and (2), the temperature of the tip of thecatheter (T) and the pre-ablation phase angle both prior to andfollowing the electrode contacting the tissue are evaluated inpredicting the temperature of the tissue. Accordingly, the system mustinclude components to both sense the temperature of the tip of thecatheter, and sense contact, or lack thereof, between the catheter andthe tissue.

With respect to the temperature of the tip of the catheter (T), in anexemplary embodiment the system includes a temperature sensor disposedat the tip of the catheter. In one exemplary embodiment; the temperaturesensor comprises a thermocouple disposed at the distal end of thecatheter and configured to generate an electrical signal representativeof the temperature sensed at the tip of the catheter. The temperaturesensor is further configured to communicate the generated signal to theECU and/or the ablation generator. In the latter instance, the ablationgenerator would be configured to report the temperature to the ECU.Accordingly, the ECU and/or ablation generator is electrically connectedto the sensor (i.e., either by wire(s) or wirelessly) and is configuredto receive the electrical signal therefrom.

As set forth herein, the present disclosure describes a system formonitoring, managing and/or protecting non-targeted tissue duringmedical procedures by determining the electrical characteristics of thenon-targeted tissue (or the electrical characteristics of the tissuebetween a monitoring probe and the probe used in the medical procedure)before and/or during the medical procedure. For exemplary purposes andfor ease of understanding, the present disclosure refers to thenon-targeted tissue as the tissue in the esophagus and moreparticularly, in the anterior wall of the esophagus. Further, forsimilar reasons, the medical procedure is referred to as an ablationprocedure and the location of the procedure is at or proximate theposterior atrial wall. The following Figures illustrate and describemultiple embodiments of a monitoring, managing and/or protecting systemof the esophagus during an ablation proceeding. The scope of the presentdisclosure is not to be limited to this particular embodiment, and ismeant to include other non-targeted tissue proximate targeted tissueduring a medical procedure, along with other medical procedures.

In order to monitor and thus control or permit the control of anablation procedure, the monitoring catheter for monitoring thenon-targeted tissue will be placed in or near the non-targeted tissuethat is of concern, near the anterior wall of the esophagus. Generally,the monitoring catheter will measure the electrical characteristics ofthe tissue between the ablation catheter and the monitoring catheter.Such tissue may include some or all of the anterior wall of theesophagus, a fat layer, any connective tissue, and the posterior atrialwall. From these measurements as described in detail below, informationon the lumped electrical properties of the tissue between the electrodescan be determined. With this information, the monitoring and protectingsystem can assist in the management of the medical procedure and protectthe non-targeted tissue from damage or further damage.

FIG. 9 illustrates a partial cross-section diagrammatic view of anexemplary embodiment of the monitoring, managing and/or protectingsystem 700 of non-targeted tissue, wherein a monitoring probe 740 isdisposed within the esophagus of a patient during a medical proceduresuch as an ablation, in accordance with the present disclosure. Themonitoring probe 740 includes a monitoring electrode 750, in thisexample, a ring electrode, which is anchored in the esophagus using aninflatable and deflatable balloon 762 as described herein.

Once properly positioned in the esophagus and inflated (using the fluidor gas source 742 controlled by the processor 760 as shown in FIG. 8),the balloon 762 and monitoring electrode 750 will be positioned betweenthe tissue of the posterior esophageal wall 910 and the tissue of theanterior esophageal wall 912. Additional tissue may include a fat layer914, connective tissue 916 and the posterior atrial wall 918. Theablating device 718 including the ablation element or electrode 730 isplaced proximate or against the posterior atrial wall 918 during theablation procedure.

As described herein, there are a number of differentinflatable/deflatable balloons or fluid based structures 762 that can beused for anchoring the monitoring electrode 750 into the proper locationfor monitoring the ablation procedure. Further, there are a number ofother devices that can be used in conjunction with the balloon 762 orinstead of the balloon 762. For example, the anchoring device can be adeflectable wire-based structure, such as an expandable/retractablespring (e.g. a coil spring, semi-elliptic spring, cantilever spring), amesh, or a stent, or a magnetic-based structure, such as a coil (i.e. anelectromagnetic coil), ferromagnet, permanent magnet, or electromagnet.Further, the monitoring electrode 750 may comprise a metal electrode,conductive fabric electrode, conductive polymer electrode, andpressure-sensitive conductive composite electrode. The monitoringelectrode 750 may be a metalized film comprising part of the monitoringshaft 740 and/or the anchoring device 762, or it may be affixed to themonitoring shaft 740 and/or the anchoring device 762.

FIG. 9A is the transverse plane view of FIG. 9 as indicated. Thetransverse plane view illustrates the posterior esophagus wall 910 andthe anterior esophagus wall 912, along with the monitoring shaft 740,monitoring electrode 750 and the anchoring balloon 762. Also shown isthe fluid (or gas) 920 inside the balloon 762, the fluid lumen 922 andthe orifice 924 for inflating and deflating the balloon 762 foranchoring and removing from the esophagus. The balloon 762 isoperatively connected to a fluid or gas source 742 and to the processor760 or a balloon controller (see FIG. 8). During the deployment of theballoon 762 within the esophagus, the balloon controller 760 controlsthe pressure of the fluid 920 that flows in and out of the balloon 762from the fluid lumen 922 in the monitoring shaft 740 via the orifice 924on the monitoring shaft 740. Thus, the balloon controller 760 createsand maintains a sufficient fluid pressure for safely inflating theballoon 762. When the balloon 762 is sufficiently inflated, theesophagus wall 910, 912 conforms to the shape of the balloon 762.

Also shown in FIG. 9A is an electrical sensor system interface 926 forthe transmission of electrical signals and/or information from themonitoring electrode 750 to the electrical response assessment system700. Once a determination is made that the non-targeted tissue is beingdamaged or might be damaged based on the information transmitted, theelectrical response assessment system 700 can notify the practitioner ofthe dangerous situation and/or manage the medical procedure to minimizeor avoid damage.

The electrical characteristics of the tissue measured by the monitoringelectrode 750 and transmitted to the electrical response assessmentsystem or component 700 may be the spatial, temporal, and/or frequencyvariations of the current and voltage signals within the tissue (such asan electrogram of a beating heart, signal generated from the ENSITECONTACT™ system, and/or an ablation generator), the electricalresistance, capacitance, inductance, among others, and combinationsthereof.

The measurements of the electrical characteristics of the tissue provideinformation on the lumped electrical properties of the tissue betweenthe electrodes. For instance, in one application, when an endocardialelectrode 730 is placed on the posterior atrial wall 918, measuringvalue of the complex impedance before ablation would provide informationon the fat layer 914 between the endocardial wall 918 and the esophagus912. In another application, measuring value of the complex impedanceduring ablation would provide highly localized and instantaneousinformation (that is, without the relatively and appreciably longer timeconstant of thermal conduction) on the progression of lesion on theposterior wall 918.

The inflatable/deflatable balloon 762 may comprise longitudinal and/ortransverse segments. FIGS. 10 and 10A show the embodiment of aninflatable/deflatable balloon 1062 comprising longitudinal segments 1062a, 1062 b. FIGS. 11 and 11A show the embodiment of aninflatable/deflatable balloon comprising transverse segments 1162 a,1162 b. Each segment 1162 a, 1162 b of the balloon 1162 may be inflatedand deflated separately by the balloon controller 760. Each segment 1162a, 1162 b of the balloon 1162 may comprise different fluid, such asfluids differing in thermal, electrical, magnetic, electromagnetic,optic, acoustic, and elastic properties. The wall of each balloonsegment 1162 a, 1162 b may comprise different material, such asmaterials differing in thermal, electrical, magnetic, electromagnetic,optic, acoustic, and elastic properties.

The inflatable/deflatable balloon 1162 may be cooled with a coolingfluid. When the balloon 1062, 1162 comprises longitudinal 1062 and/ortransverse 1162 segments, each segment 1062 a, 1062 b, 1162 a, 1162 bmay be filled with different fluid and may be maintained at differenttemperature.

FIGS. 12 and 12A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 with a mesh electrode1250 on an inflatable/deflatable balloon 1262. The mesh electrode 1250may comprise material with shape memory such as Nitinol. The meshelectrode 1250 may comprise stretchable conductive material such asconductive polymer, conductive fiber, and or conductive fabric.

FIGS. 13 and 13A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 with a spiral electrodeconfigured as a three-dimensional array electrode 1350 on aninflatable/deflatable balloon 1362. The array electrode 1350 maycomprise electrically conductive portions on otherwise electricallyinsulated matrix of wires, such as the ENSITE ARRAY® Catheter. The arrayelectrode 1350 may be affixed to the balloon 1362, and thus used inconjunction with the balloon 1362, that is, deployed in and out of theesophagus by inflating/deflating the balloon 1362.

Alternatively, as shown in FIGS. 14 and 14A, the array electrode 1450may not be affixed to the balloon 1462. In such an embodiment, theballoon 1462 is placed within the array electrode 1450 such that thearray electrode 1450 is expanded/retracted by inflating/deflating theballoon 1462 inside the array electrode 1450.

FIGS. 15 and 15A show an embodiment in which the array electrode 1550 iswithout an inflatable/deflatable balloon. In that embodiment, the arrayelectrode 1550 may further comprise elastic metal wires 1562 to providestructural support during deployment within the esophagus. In thatconfiguration, the array electrode 1550 may also be used as an anchoringdevice 1562.

FIGS. 16 and 16A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 with esophageal spotelectrodes 1650 on an inflatable/deflatable balloon 1662. The multiplespot electrodes 1650 are disposed in a plane perpendicular to alongitudinal axis of the monitoring probe 740 such that one of the spotelectrodes will always be located proximate the anterior esophageal wall912.

FIGS. 17 and 17A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 with distributedelectrodes 1750 on an inflatable/deflatable balloon 1762. In such anembodiment, the distributed electrodes 1750 are multiple ring electrodes1750 distributed on the surface of an inflatable/deflatable balloon1762, and an esophageal tip electrode 1752 is located at the distalportion of the balloon 1762. The electrodes 1750, 1752 may be spatiallydistributed either evenly or unevenly with respect to each other.

FIGS. 18 and 18A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 with distributedelectrodes 1850 on the distal portion of the monitoring shaft 740. Insuch an embodiment, the monitoring electrodes are ring electrodes 1850.The embodiment also shows an inflatable/deflatable unidirectionalballoon 1862 provided on one side of the distal portion of themonitoring shaft 740. Additionally, a thermal sensor 1852 is provided atthe distal portion of the monitoring shaft 740. The thermal sensor 1852is operatively connected to a modified electrical response assessmentsystem/component (not shown) which is configured to measure theelectrical and thermal characteristics of the tissue between themonitoring electrode 1850 and the ablation electrode 730, such asbetween the esophageal and endocardial electrodes.

FIGS. 19 through 21 show exemplary embodiments of the monitoring,managing and/or protecting device and system 700 with multiple balloonsprovided at the distal portion of the catheter shaft. FIGS. 19 and 19Ashow multiple longitudinally-aligned balloons 1962, FIGS. 20 and 20Ashow multiple obliquely-staggered balloons 2062, and FIGS. 21 and 21Ashow multiple obliquely-juxtaposed balloons 2162. FIGS. 19 and 20 alsoshow the monitoring shaft 1940, 2040 having multiple fluid lumens 1922,2022. The multiple obliquely positioned balloons 1962, 2062 allowcoronal distention of the esophagus, thereby retracting the esophagusfrom the posterior wall of the atrium 918.

FIGS. 21 through 22 show exemplary embodiments of the monitoring,managing and/or protecting device and system 700 with a dual monitoringshaft 2140, 2240. The distal portion of each monitoring shaft 2140, 2240carries monitoring electrodes 2150, 2250 that may be electricallyconnected to each other (as a distributed uni-polar electrode) orelectrically isolated from each other (as a bi-polar or multi-polarelectrode). FIGS. 21 and 21A show the embodiment of a longitudinalelectrode 2150 on a monitoring shaft 2140. FIG. 22 further shows anendocardial thermal sensor 2232 used in conjunction with the endocardialelectrode 2230. FIGS. 21 through 22 also show the monitoring electrode2150, 2250 provided with an array of thermal sensors 2152, 2252 whichare operatively connected to a modified electrical response assessmentsystem/component (not shown) which is configured to measure theelectrical and thermal characteristics of the tissue between themonitoring electrode 2150, 2250 and the ablation electrode 730, 2230such as between the esophageal and endocardial electrodes.

FIGS. 23 through 24 show exemplary embodiments of the monitoring,managing and/or protecting device and system 700 with a deflectableanchoring device 2362, 2462 provided at the distal portion of themonitoring shaft 2340, 2440. In such embodiments, the deflectableanchoring device 2362, 2462 is shown as a single (see FIG. 23) andmultiple (see FIG. 24) expandable/retractable semi-elliptic spring.

FIGS. 25 through 26 show exemplary embodiments of the monitoring,managing and/or protecting device and system 700 with a magnetic-basedanchoring device 2562, 2662. In FIGS. 25 and 25A, the magnetic materialis provided at the distal portion of the monitoring shaft 2540. In FIGS.26 and 26A, the magnetic material is provided as a magnetic fluid in theinflatable/deflatable balloon 2662 at the distal portion of themonitoring shaft 2640. The magnetic material helps positioning andanchoring the monitoring electrode 2650 by interacting with an externalmagnetic field.

FIGS. 27 through 35 show exemplary embodiments of different modes ofconfiguring the monitoring, managing and/or protecting device and system700.

In FIGS. 27 and 27A, the electrical response assessment system/component(not shown) is operatively connected to the electrode 2750 on theballoon 2762 and the electrode 2730 in the endocardial chamber andconfigured to monitor the proximity of the endocardial electrode 2730 toeither the esophageal electrode 2750 or the endocardial wall 918. Thedashed lines indicating an electric field.

In FIGS. 28 and 28A, an endocardial catheter 2830, such as an ablationcatheter or a diagnostic catheter (e.g. a CS diagnostic catheter placedwithin the coronary vein via the coronary sinus), is configured as areference electrode for calibrating the lumped electrical parameters ofthe tissue between the monitoring electrode 2850 and the endocardialelectrodes 2830 when the endocardial electrode 2830 is not touching theendocardial wall 918.

In FIGS. 29 and 29A, the monitoring electrode 2950 is configured as areference electrode for the endocardial electrode 2930 to monitorelectrical parameters of tissue sensing, such as electrical coupling,before and during ablation of the posterior endocardial wall 918.

In FIGS. 30 and 30A, the monitoring electrode 3050 is configured tomonitor electrical parameters of tissue sensing in a bipolar ormulti-polar mode.

In FIGS. 31 through 33, the dashed lines indicate the magnetic field.The monitoring electrode 3150, 3250, 3350 is configured to interact withthe magnetic field of a magnetic endocardial electrode 3130, 3230, 3330.In FIGS. 31 and 31A the monitoring electrode 3150 is configured toattract, and/or be attracted to, the magnetic endocardial electrode3130. In FIGS. 32 and 32A the monitoring electrode 3250 is configured torepel, and/or be repelled by, the magnetic endocardial electrode 3230.In FIGS. 33 and 33A the monitoring electrode 3350 is configured by meansof a magnetic field controller interface (not shown) to be in a reactivemode (either attracting or repelling) with respect to magneticendocardial electrode 3330 depending on the electrical parametersmeasured by the electrical response assessment system/component 760. Forexample, the monitoring and endocardial electrodes 3350, 3330 may be inan attracting mode at the beginning of ablation, and subsequentlychanged to be in a repelling mode upon reaching a threshold ablationstage.

FIGS. 34 and 34A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 configured to interactwith an endocardial ablation catheter 3430 that also has contact forcesensor 3432. The contact force sensor 3432 is operatively connected to amodified electrical response assessment system/component (not shown)which is configured to measure the electrical characteristics of thetissue between the electrodes along with the contact force.

FIGS. 35 and 35A show an exemplary embodiment of the monitoring,managing and/or protecting device and system 700 provided with aposition sensor 3554. The monitoring, managing and/or protecting deviceand system 700 along with the position sensor 3554 configured tointeract with an endocardial electrode 3530 and provide the location ofthe endocardial electrode 3530 with respect to the monitoring electrode3550. The position sensor 3554 is operatively connected to a modifiedelectrical response assessment system/component (not shown) which isconfigured to measure the electrical characteristics of the tissuebetween the electrodes along with the relative position of theelectrodes. As described herein, such position sensors include, but arenot limited to, visual position sensors, encoders to measure a relativeand/or an absolute position, magnetic position sensors, among others,and combinations thereof.

FIG. 36 is a flow chart showing an exemplary method of monitoring,managing and/or protecting non-targeted tissue during a medicalprocedure as described herein. The exemplary method comprises thefollowing steps:

Inserting a monitoring catheter in the patient's esophagus 3610 suchthat an electrode on the monitoring catheter is aligned or positionedwith and facing the posterior wall of the atrium;

Deploying an anchoring device 3620 such that the anterior surface of theanchoring device is facing the posterior wall of the atrium. Asdescribed herein, such anchoring devices include, but are not limitedto, various types of inflatable and deflatable balloons, fluid basedstructures, deflectable wire-based structure, such as anexpandable/retractable spring (e.g. a coil spring, semi-elliptic spring,cantilever spring), a mesh, or a stent, or a magnetic-based structure,such as a coil (i.e. an electromagnetic coil), ferromagnet, permanentmagnet, or electromagnet.

Inserting an ablation electrode 3630 into the endocardial chamber;

Operatively connecting or coupling an electrical response assessmentsystem and/or component 3640 to the electrode on the monitoring catheterand to the electrode in the endocardial chamber;

Measuring at least one electrical characteristic 3650 of the tissueproximate the monitoring electrode or the tissue between the monitoringelectrode and the ablation electrode;

Determining, during the ablation procedure, from the electricalcharacteristics 3660 measured by the electrical response assessmentsystem and/or component whether it is necessary to modify or stop theablation energy delivered to the endocardial electrode to prevent orminimize damage to the non-targeted tissue;

If the need to modify or stop the ablation energy exists, determiningthe necessary modification or notifying the practitioner of thepotential damage 3670, and transmitting the corresponding signal 3680;

Once the signal is transmitted (or if there was no need for the signal),determine if the procedure is complete 3690, and if so, end 3700,otherwise return to measure additional electrical characteristics instep 3650 until complete 3700.

Although several embodiments of this invention have been described abovewith a certain degree of particularity, those skilled in the art couldmake numerous alterations to the disclosed embodiments without departingfrom the spirit or scope of this invention. All directional references(e.g., upper, lower, upward, downward, left, right, leftward, rightward,top, bottom, above, below, vertical, horizontal, clockwise, andcounterclockwise) are only used for identification purposes to aid thereader's understanding of the present disclosure, and do not createlimitations, particularly as to the position, orientation, or use of theinvention. Joinder references (e.g., attached, coupled, connected, andthe like) are to be construed broadly and may include intermediatemembers between a connection of elements and relative movement betweenelements. As such, joinder references do not necessarily infer that twoelements are directly connected and in fixed relation to each other. Itis intended that all matter contained in the above description or shownin the accompanying drawings shall be interpreted as illustrative onlyand not limiting. Changes in detail or structure may be made withoutdeparting from the spirit of the invention as defined in the appendedclaims.

1. A monitoring, managing and protecting system for providing protection to non-targeted tissue during an ablation of the posterior wall of the atrium, the monitoring system comprising: a) a monitoring probe comprising a tubular body and a monitoring shaft, wherein said monitoring shaft has a proximal portion, a distal portion, an anterior surface, and a posterior surface; b) an anchoring device provided at the distal portion of the monitoring shaft, wherein the anchoring device has an anterior surface and a posterior surface, and wherein the anchoring device comprises at least one of a fluid based structure, a deflectable wire-based structure, and a magnetic-based structure; and c) at least one monitoring electrode, said at least one monitoring electrode configured to be located proximate said non-targeted tissue, wherein the at least one monitoring electrode is configured to measure at least one electrical characteristic of the non-targeted tissue; d) an electrical response assessment system, wherein said electrical response assessment system is operatively connected to said monitoring electrode, and said electrical response assessment system is configured to determine whether said non-targeted tissue will be damaged based on the at least one electrical characteristic measured by said monitoring electrode.
 2. The monitoring system in claim 1, wherein the fluid based structure is an inflatable/deflatable balloon.
 3. The monitoring system in claim 2, wherein the inflatable/deflatable balloon comprises a plurality of segments.
 4. The monitoring system in claim 3, wherein each segment of the inflatable/deflatable balloon contains a different fluid.
 5. The monitoring system in claim 1, wherein the deflectable wire-based structure comprises at least one of an expandable/retractable spring, an expandable/retractable mesh, and an expandable/retractable stent.
 6. The monitoring system in claim 5, wherein the expandable/retractable spring comprises at least one of a coil spring, a semi-elliptic spring, and a cantilever spring.
 7. The monitoring system in claim 1, wherein the magnetic-based structure comprises at least one of a coil, a ferromagnet, a permanent magnet, and an electromagnet.
 8. The monitoring system in claim 1, wherein the at least one monitoring electrode is located on said anterior surface of the distal portion of the monitoring shaft.
 9. The monitoring system in claim 1, wherein the at least one monitoring electrode is on said anterior surface of the distal portion of the anchoring device.
 10. The monitoring system in claim 1, wherein the at least one monitoring electrode is a metal electrode, said metal electrode comprising a metalized film.
 11. The monitoring system in claim 1, wherein the at least one monitoring electrode is a conductive polymer electrode.
 12. The monitoring system in claim 1, wherein the at least one monitoring electrode is one of a ring electrode, a spot electrode, a spiral electrode, an array electrode, a mesh electrode, and a longitudinal electrode.
 13. The monitoring system in claim 12, wherein the at least one monitoring electrode comprises multiple electrodes disposed in a plane perpendicular to a longitudinal axis of said monitoring probe.
 14. The monitoring system in claim 13, wherein one of the multiple electrodes comprise ring electrodes.
 15. The monitoring system in claim 1, further comprising a thermal sensor, wherein said thermal sensor is operatively connected to the electrical response assessment system and said monitoring system is configured to measure the electrical and thermal characteristics of tissue between an anterior wall of the esophagus and a posterior endocardial wall of the atrium.
 16. A catheter system for providing esophageal protection during ablation, the catheter system comprising: a) an esophageal catheter comprising a tubular body having a catheter shaft, wherein the catheter shaft has a proximal portion and a distal portion; b) an anchoring means provided at the distal portion of the catheter shaft, wherein the anchoring means has an anterior surface and a posterior surface; c) at least one electrode on the anterior surface of the anchoring means; d) at least one other electrode proximate the atrium; and e) an electrical response assessment system operatively connected to the electrode on the anchoring means and the electrode proximate the atrium, and configured to measure the electrical characteristics of the tissue between the electrodes.
 17. The catheter system for providing esophageal protection during ablation of the posterior wall of the atrium in claim 16, further comprising a robotic control and guidance system, said robotic control and guidance system configured to control the position of said electrode proximate the atrium, and comprising an electronic control system, said electronic control system operatively connected to said electrical response assessment system, such that said electrical response assessment system is capable of controlling the electrode in the atrium based on the measure of the electrical characteristics of the tissue between the electrodes.
 18. A method of monitoring, managing and protecting esophageal tissue during ablation, the method comprising the steps of: a) providing a monitoring system, said monitoring system comprising a monitoring shaft, said monitoring shaft having a tubular body, wherein the monitoring shaft has a proximal portion and a distal portion, said monitoring system further comprising an anchoring means provided at the distal portion of the monitoring shaft, wherein the anchoring means has an anterior surface and a posterior surface, and at least one monitoring electrode on the anterior surface of the anchoring means; b) inserting said monitoring shaft in the esophagus such that said monitoring electrode on the monitoring shaft is aligned with and facing the posterior wall of the atrium; c) deploying said anchoring means of said monitoring shaft such that the anterior surface of the anchoring means is facing the posterior wall of the atrium; d) inserting an ablation electrode in the endocardial chamber; e) operatively connecting an electrical response assessment system to the monitoring electrode on the monitoring shaft and to the ablation electrode in the endocardial chamber; and f) measuring at least one electrical characteristic of the tissue between the monitoring electrode and the ablation electrode.
 19. A method of monitoring, managing and protecting esophageal tissue during ablation in claim 18, the method further comprising the step of: g) using the measured electrical characteristic of the tissue between the monitoring electrode and the ablation electrode to determine whether to modify the ablation energy delivered to the endocardial electrode.
 20. A method of monitoring, managing and protecting esophageal tissue during ablation in claim 18, the method further comprising the step of: g) using the measured electrical characteristic of the tissue between the monitoring electrode and the ablation electrode to determine whether to stop ablation energy delivered to the endocardial electrode.
 21. A method of monitoring, managing and protecting esophageal tissue during ablation in claim 18, the method further comprising the step of: g) using the measured electrical characteristic of the tissue between the monitoring electrode and the ablation electrode to determine whether to inform a practitioner of the potential for damaging the esophagus. 